# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
uint64 timestamp			# time since system start (microseconds)

uint8 MAIN_STATE_MANUAL             = 0
uint8 MAIN_STATE_ALTCTL             = 1
uint8 MAIN_STATE_POSCTL             = 2
uint8 MAIN_STATE_AUTO_MISSION       = 3
uint8 MAIN_STATE_AUTO_LOITER        = 4
uint8 MAIN_STATE_AUTO_RTL           = 5
uint8 MAIN_STATE_ACRO               = 6
uint8 MAIN_STATE_OFFBOARD           = 7
uint8 MAIN_STATE_STAB               = 8
# LEGACY RATTITUDE                  = 9
uint8 MAIN_STATE_AUTO_TAKEOFF       = 10
uint8 MAIN_STATE_AUTO_LAND          = 11
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_AUTO_PRECLAND      = 13
uint8 MAIN_STATE_ORBIT              = 14
uint8 MAIN_STATE_MAX                = 15

uint8 main_state		    	# main state machine

uint16 main_state_changes